发布求助
文献互助 智能选刊 最新文献

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献

筛选
英文 中文
Replacing cables on robotic arms by using serial via Bluetooth 通过蓝牙使用串行取代机械臂上的电缆
2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324416
Marc Bestmann, Florens Wasserfall, N. Hendrich, Jianwei Zhang
{"title":"Replacing cables on robotic arms by using serial via Bluetooth","authors":"Marc Bestmann, Florens Wasserfall, N. Hendrich, Jianwei Zhang","doi":"10.1109/ROBIO.2017.8324416","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324416","url":null,"abstract":"Most industrial robot workcells today are still characterized by a lot of external cables. In fact, cable management remains an important aspect of robot integration, often significantly impacting robot workspace and motion planning. In this paper, we discuss our solution to replace external cables with a wireless connection. While wireless networks are widely used for educational robots and teleoperation of mobile platforms, integration of wireless communication into industrial setups requires careful consideration, and the risks and potential loss of reliability must be evaluated. We present experimental results on the performance of our system, including measured Bluetooth latencies and packet-loss in several scenarios. In our case, the advantages of the cable-less system, including simplified motion planning, fewer self-collisions, and use of 3D-sensing for collision detection greatly outweigh any loss in reliability.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124512304","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Underactuated control of swing in orbit debris towing removal via tether space robots 系绳空间机器人轨道摆动拖曳清除的欠驱动控制
2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324676
Zhongjie Meng, Y. Bai, Panfeng Huang
{"title":"Underactuated control of swing in orbit debris towing removal via tether space robots","authors":"Zhongjie Meng, Y. Bai, Panfeng Huang","doi":"10.1109/ROBIO.2017.8324676","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324676","url":null,"abstract":"Towing removal using tethered space robot is a promising method for the ever increasing space debris population. The tether libration is one of the obstacles for its on-orbit application. For the space debris does not have any driving force and the tether is not a suitable control input, transfer thrusts on tug are remaining control inputs for libration suppressing. It consequently becomes an underactuated control problem. A dynamical model of debris towing removal system (DTRS) is established firstly. Then, an anti-windup hierarchical sliding mode control law is studied for the constrained and underactuated transfer thrusts on the tug. Simulation results show that the tether librational motion is suppressed and the controller is feasible. Under the transfer thrusts on tug, the orbit radius, true anomaly and tether librational angle are tracked to their desired states accurately.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123032872","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Deep-learned pedestrian avoidance policy for robot navigation 机器人导航的深度学习行人回避策略
2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324440
Shengjie Hu, Chao Cao, Jia Pan
{"title":"Deep-learned pedestrian avoidance policy for robot navigation","authors":"Shengjie Hu, Chao Cao, Jia Pan","doi":"10.1109/ROBIO.2017.8324440","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324440","url":null,"abstract":"Being able to avoid obstacles and pedestrians in particular, is essential for robots to function in dynamic environments. In contrast with model based methods utilizing primarily computer vision, this project proposed a learning-based approach. Two deep neural networks were trained with images labeled with movement decisions, for pedestrian avoidance and path following tasks, where computer vision labeling and camera order labeling techniques were applied respectively. Together with ultrasonic sensors for static obstacle avoidance, the three components cooperatively contributed to our robot navigation policy. Comparing to existing experiments and research with sophisticated sensors, for instance LIDAR, the project utilized a monocular RGB camera and exploited its capability. Focusing on pedestrian avoidance, the project explores limitations and advantages of deep neural network method. A robot integrating above components was built, and performed satisfactorily in relevant test runs.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"172 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123273338","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Design of real-time ethernet motion controller based on FPGA 基于FPGA的实时以太网运动控制器设计
2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324669
Jianchao Shi, Jianxun Zhang, Yu Dai, Su He
{"title":"Design of real-time ethernet motion controller based on FPGA","authors":"Jianchao Shi, Jianxun Zhang, Yu Dai, Su He","doi":"10.1109/ROBIO.2017.8324669","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324669","url":null,"abstract":"In order to meet the high precision and real-time demand of master-slave robot, the motion controller of it is designed with field programmable gate array (FPGA) as the core chip. The controller firstly implements real-time Ethernet Powerlink instead of the traditional field bus to transfer location information between master-slave hands, then PID closed-loop control algorithm calculates an pulse width modulation (PWM) duty cycle based on the deviation from the location information of master-slave hands, PWM generation module generates corresponding square wave signal to drive the motor rotates. To feedback actual location information and ensure the security of system, encoder acquisition module and motor enable module are designed with logical hardware in FPGA. Finally the motor position control is realized. The results of experiments show that the motion controller based on FPGA, which is compared with the traditional motion controller realized by digital signal processor (DSP) and FPGA, can greatly improve the precision and real-time performance of master-slave robot.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121462245","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Detection for power transmission line in low-resolution aerial image 低分辨率航拍图像中输电线路的检测
2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324614
Guodong Yang, Dezheng Zhao, Wenkai Chang, E. Li, Zi-ze Liang
{"title":"Detection for power transmission line in low-resolution aerial image","authors":"Guodong Yang, Dezheng Zhao, Wenkai Chang, E. Li, Zi-ze Liang","doi":"10.1109/ROBIO.2017.8324614","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324614","url":null,"abstract":"This paper presents a detection method for power transmission lines in low-resolution aerial image. The method is composed with two procedures as the line extraction procedure and the line fitting procedure. In the first procedure, an extraction algorithm based on Hessian matrix is proposed to segment the lines from the complex background. Besides, an image filter algorithm based on region growing is adopted to eliminate interference points caused by background. In the second procedure, a line fitting algorithm based on Expectation Maximization(EM) method is developed to get the geometry parameters and positions of the lines. Experiments show the effectiveness and efficiency of the proposed detection method.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122906447","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Controllability and accessibility of vibrations in multiple planes on link-elastic robot arms 连杆弹性机械臂多平面振动的可控性和可及性
2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324628
F. John, J. Malzahn, T. Bertram
{"title":"Controllability and accessibility of vibrations in multiple planes on link-elastic robot arms","authors":"F. John, J. Malzahn, T. Bertram","doi":"10.1109/ROBIO.2017.8324628","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324628","url":null,"abstract":"Research on link-elasticities offers the perspective to devise lightweight robots with intrinsic safety benefits for physical human-robot interaction and fast motions with reduced energy consumption. Moreover, their force/torque sensing capabilities mimic the functionalities of animalistic whiskers, putting the robot in a position to react gently to its environment. While many works consider single elastic links or planar settings, the present work addresses the controllability problem for link-elastic robots with multiple vibration planes. The paper introduces the reader to the modal controllability and accessibility problem emerging in such systems, and proposes a novel geometric controllability index with reduced complexity. The proposed index is compared and analysed with respect to existing indexes from literature in preparation for adaptive vibration control schemes.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"82 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123942415","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Concept and design of a lightweight biped robot for walking on rough terrain 用于在崎岖地形上行走的轻型双足机器人的概念和设计
2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324587
Yixiang Liu, Xizhe Zang, Zhenkun Lin, Jie Zhao
{"title":"Concept and design of a lightweight biped robot for walking on rough terrain","authors":"Yixiang Liu, Xizhe Zang, Zhenkun Lin, Jie Zhao","doi":"10.1109/ROBIO.2017.8324587","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324587","url":null,"abstract":"Long-term evolvement enables human to achieve various locomotion on different terrains. But it is still a challenge for biped robots to walk stably on rough terrain. The purpose of this paper is to develop a lightweight biped robot adaptable to uneven ground, by integrating the inspirations obtained from human into its structure design and realization. The main design concepts of the biped robot include compliance, combination of active and passive actuation, as well as electric-pneumatic hybrid actuation. On this basis, a prototype of the biped robot which is composed of hip joints with unidirectional series elastic actuator, biomimetic knee joints, semi-passive ankle joints and stiffness adjustable feet is developed. Walking experiments on the biped robot shows that it has the ability to adapt to uneven ground with small-sized bumps in maximum height of 8 mm.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124194250","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Orientation planning in task space using quaternion polynomials 基于四元数多项式的任务空间定向规划
2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324769
M. Shahbazi, Navvab Kashiri, D. Caldwell, N. Tsagarakis
{"title":"Orientation planning in task space using quaternion polynomials","authors":"M. Shahbazi, Navvab Kashiri, D. Caldwell, N. Tsagarakis","doi":"10.1109/ROBIO.2017.8324769","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324769","url":null,"abstract":"This paper introduces a computationally fast method for orientation trajectory planning in point-to-point motion tasks when the angular velocity and acceleration at the endpoints are constrained. Addressing such a problem with existing spherical-interpolation-based methods (in the context of unit quaternion) is not straightforward, since the inherent complexities of spherical curves necessitate task-specific tunings for satisfying all the boundary conditions. To tackle such a difficulty, we propound an interpolation function on the basis of standard polynomials in time with quaternion coefficients. We introduce a novel algorithm to determine varying polynomial coefficients in a way that the unit length of interpolated quaternion can be guaranteed. The performance of the developed planning algorithms is illustrated through a functional analysis and via simulation experiments on an anthropomorphic robotic arm. The results corroborate the merits of the presented approach especially in respecting arbitrary boundary conditions.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125663245","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Design and application of intelligent patrol system based on virtual reality 基于虚拟现实的智能巡逻系统设计与应用
2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324580
Zheng Huang, Diansheng Chen, Min Wang
{"title":"Design and application of intelligent patrol system based on virtual reality","authors":"Zheng Huang, Diansheng Chen, Min Wang","doi":"10.1109/ROBIO.2017.8324580","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324580","url":null,"abstract":"With the development of society, the size and numbers of large-scale places such as shopping malls and airports continue to expand and the need for security automation increases. Patrol robot is a comprehensive system with environmental awareness, route planning, dynamic decision making, behavior decision making and so on [1]. The existing patrols are mainly inefficient manual patrols and it is a viable solution to make patrol robots achieve regular, fixed patrol or interrupted patrol in a complex environment. As a technology with excellent human-computer interaction, virtual reality can be applied to patrol robots and it can improve efficiency and reliability of patrol task. Based on the modeling of known patrol environment, 3 modules based on C++ programming language, which include virtual display module, registration module based on OpenCV visual library, robot remote control module based on TCP/IP protocol, were developed in the paper. This above 3 modules make the system achieve the remote control function and online patrol function of patrol robot. In addition, the realistic sense of the virtual reality technology and the accuracy of registration technology has been proved been proved by experiments.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125691128","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Compression based distributed dynamic task assignment algorithms for heterogeneous multiple unmanned aerial vehicles 基于压缩的异构多无人机分布式动态任务分配算法
2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI: 10.1109/ROBIO.2017.8324779
Li Wang, Q. Guo
{"title":"Compression based distributed dynamic task assignment algorithms for heterogeneous multiple unmanned aerial vehicles","authors":"Li Wang, Q. Guo","doi":"10.1109/ROBIO.2017.8324779","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324779","url":null,"abstract":"For the dynamic mission scenarios with task deadline constraints, we present two online task assignment algorithms for multiple unmanned aerial vehicles: the distributed deep compression algorithm (DDCA) and the distributed quick compression algorithm (DQCA). The two methods based on a compression strategy aim at directly optimizing the mission span as their objective by considering the long-term benefits and the current results, respectively. These algorithms all include a task calculation phase, a consensus and compression phase and a task update phase, running on each UAV in an iterative fashion. The methods are simple, efficient and anytime, which reach good solution in a relatively short time. Numerical results show that the proposed algorithms perform better in various conditions when compared with the classic SSIA algorithm.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130109803","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
首页 上一页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信